master/pdo_mapping.c
author Florian Pose <fp@igh-essen.com>
Fri, 29 Feb 2008 08:27:17 +0000
changeset 846 19248bbf9308
parent 844 8839ba8bfeb4
permissions -rw-r--r--
Cross blinking.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT Pdo mapping methods.
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*/
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/*****************************************************************************/
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#include <linux/module.h>
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#include "globals.h"
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#include "pdo.h"
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#include "slave_config.h"
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#include "master.h"
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#include "pdo_mapping.h"
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/*****************************************************************************/
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/** Pdo mapping constructor.
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 */
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void ec_pdo_mapping_init(
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        ec_pdo_mapping_t *pm /**< Pdo mapping. */
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        )
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{
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    INIT_LIST_HEAD(&pm->pdos);
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    pm->default_mapping = 1;
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}
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/*****************************************************************************/
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/** Pdo mapping destructor.
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 */
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void ec_pdo_mapping_clear(ec_pdo_mapping_t *pm /**< Pdo mapping. */)
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{
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    ec_pdo_mapping_clear_pdos(pm);
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}
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/*****************************************************************************/
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/** Clears the list of mapped Pdos.
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 */
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void ec_pdo_mapping_clear_pdos(ec_pdo_mapping_t *pm /**< Pdo mapping. */)
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{
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    ec_pdo_t *pdo, *next;
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    list_for_each_entry_safe(pdo, next, &pm->pdos, list) {
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        list_del_init(&pdo->list);
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        ec_pdo_clear(pdo);
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        kfree(pdo);
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    }
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}
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/*****************************************************************************/
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/** Calculates the total size of the mapped Pdo entries.
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 *
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 * \retval Data size in byte.
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 */
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uint16_t ec_pdo_mapping_total_size(
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        const ec_pdo_mapping_t *pm /**< Pdo mapping. */
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        )
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{
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    unsigned int bit_size;
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    const ec_pdo_t *pdo;
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    const ec_pdo_entry_t *pdo_entry;
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    uint16_t byte_size;
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    bit_size = 0;
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    list_for_each_entry(pdo, &pm->pdos, list) {
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        list_for_each_entry(pdo_entry, &pdo->entries, list) {
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            bit_size += pdo_entry->bit_length;
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        }
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    }
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    if (bit_size % 8) // round up to full bytes
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        byte_size = bit_size / 8 + 1;
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    else
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        byte_size = bit_size / 8;
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    return byte_size;
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}
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/*****************************************************************************/
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/** Add a new Pdo to the mapping.
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 *
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 * \retval >0 Pointer to new Pdo.
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 * \retval NULL No memory.
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 */
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ec_pdo_t *ec_pdo_mapping_add_pdo(
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        ec_pdo_mapping_t *pm, /**< Pdo mapping. */
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        ec_direction_t dir, /**< Direction. */
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        uint16_t index /**< Pdo index. */
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        )
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{
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    ec_pdo_t *pdo;
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    if (!(pdo = (ec_pdo_t *) kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
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        EC_ERR("Failed to allocate memory for Pdo.\n");
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        return NULL;
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    }
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    ec_pdo_init(pdo);
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    pdo->dir = dir;
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    pdo->index = index;
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    list_add_tail(&pdo->list, &pm->pdos);
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    return pdo;
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}
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/*****************************************************************************/
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/** Add the copy of an existing Pdo to the mapping.
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 *
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 * \return 0 on success, else < 0
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 */
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int ec_pdo_mapping_add_pdo_copy(
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        ec_pdo_mapping_t *pm, /**< Pdo mapping. */
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        const ec_pdo_t *pdo /**< Pdo to add. */
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        )
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{
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    ec_pdo_t *mapped_pdo;
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    // Pdo already mapped?
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    list_for_each_entry(mapped_pdo, &pm->pdos, list) {
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        if (mapped_pdo->index != pdo->index) continue;
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        EC_ERR("Pdo 0x%04X is already mapped!\n", pdo->index);
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        return -1;
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    }
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    if (!(mapped_pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
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        EC_ERR("Failed to allocate Pdo memory.\n");
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        return -1;
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    }
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    if (ec_pdo_init_copy(mapped_pdo, pdo)) {
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        kfree(mapped_pdo);
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        return -1;
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    }
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    list_add_tail(&mapped_pdo->list, &pm->pdos);
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    return 0;
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}
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/*****************************************************************************/
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/** Makes a deep copy of another Pdo mapping.
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 *
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 * \return 0 on success, else < 0
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 */
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int ec_pdo_mapping_copy(
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        ec_pdo_mapping_t *pm, /**< Pdo mapping. */
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        const ec_pdo_mapping_t *other /**< Pdo mapping to copy from. */
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        )
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{
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    ec_pdo_t *other_pdo;
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    ec_pdo_mapping_clear_pdos(pm);
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    // Pdo already mapped?
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    list_for_each_entry(other_pdo, &other->pdos, list) {
838
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        if (ec_pdo_mapping_add_pdo_copy(pm, other_pdo))
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            return -1;
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    }
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    return 0;
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}
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/*****************************************************************************/
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/** Compares two Pdo mappings.
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 *
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 * Only the mapping is compared, not the Pdo entries (i. e. the Pdo
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 * configuration).
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 *
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 * \retval 1 The given Pdo mappings are equal.
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 * \retval 0 The given Pdo mappings differ.
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 */
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int ec_pdo_mapping_equal(
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        const ec_pdo_mapping_t *pm1, /**< First mapping. */
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        const ec_pdo_mapping_t *pm2 /**< Second mapping. */
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        )
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{
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    const struct list_head *h1, *h2, *l1, *l2;
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    const ec_pdo_t *p1, *p2;
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    h1 = l1 = &pm1->pdos;
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   220
    h2 = l2 = &pm2->pdos;
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   221
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   222
    while (1) {
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   223
        l1 = l1->next;
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   224
        l2 = l2->next;
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   225
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   226
        if ((l1 == h1) ^ (l2 == h2)) // unequal lengths
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   227
            return 0;
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   228
        if (l1 == h1) // both finished
792
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   229
            break;
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   230
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   231
        p1 = list_entry(l1, ec_pdo_t, list);
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   232
        p2 = list_entry(l2, ec_pdo_t, list);
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   233
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   234
        if (p1->index != p2->index)
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   235
            return 0;
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   236
    }
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   237
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   238
    return 1;
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   239
}
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   240
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   241
/*****************************************************************************/
799
068a58b96965 Pdo configuration.
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   242
842
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   243
/** Finds a Pdo with the given index.
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   244
 */
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   245
ec_pdo_t *ec_pdo_mapping_find_pdo(
799
068a58b96965 Pdo configuration.
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   246
        const ec_pdo_mapping_t *pm, /**< Pdo mapping. */
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   247
        uint16_t index /**< Pdo index. */
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   248
        )
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   249
{
842
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   250
    ec_pdo_t *pdo;
799
068a58b96965 Pdo configuration.
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   251
068a58b96965 Pdo configuration.
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   252
    list_for_each_entry(pdo, &pm->pdos, list) {
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   253
        if (pdo->index != index)
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   254
            continue;
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   255
        return pdo;
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   256
    }
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   257
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   258
    return NULL;
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   259
}
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   260
068a58b96965 Pdo configuration.
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   261
/*****************************************************************************/
842
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/** Finds a Pdo with the given index and returns a const pointer.
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 */
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const ec_pdo_t *ec_pdo_mapping_find_pdo_const(
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        const ec_pdo_mapping_t *pm, /**< Pdo mapping. */
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        uint16_t index /**< Pdo index. */
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        )
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{
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    const ec_pdo_t *pdo;
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    list_for_each_entry(pdo, &pm->pdos, list) {
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        if (pdo->index != index)
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            continue;
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        return pdo;
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    }
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    return NULL;
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}
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/*****************************************************************************/